文章基本信息

标题：Robust Nonlinear Predictive Control through qLPV embedding and Zonotope Uncertainty Propagation ⁎
本地全文：下载
作者：Marcelo M. Morato ; Victor M. Cunha ; Tito L.M. Santos 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：8
页码：33-38
DOI：10.1016/j.ifacol.2021.08.577
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a novel robust Model Predictive Control (MPC) algorithm for nonlinear systems represented through quasi-Linear Parameter Varying (qLPV) models. The nominal MPC predictions are made considering a frozen scheduling parameter guess, which is computationally cheaper than nonlinear predictions, while zonotopes bound the disturbance propagation along the prediction. These sets are computed with respect to the bounds of the variation of scheduling parameters, offering reduced conservatism of the closed-loop dynamics and ensuring input-to-state stability and recursive feasibility properties. A DC-DC converter benchmark example is used to illustrate the advantages of the proposed method.
关键词：KeywordsRobust Model Predictive ControlQuasi-Linear Parameter Varying SystemsZonotopesSet-based ControlConstraint Tightening